JP6692209B2 - Parking management system and control method thereof - Google Patents

Description

  The present invention relates to a parking management system and a control method thereof, and particularly to a parking management system suitable for parking management of a large number of vehicles in a large-scale parking lot attached to a large-scale facility such as large-scale commercial facility or large-scale entertainment facility, and the like. It relates to a control method.

  As a conventional parking management system, for example, a parking device described in Japanese Patent Laid-Open No. 2011-089354 is known. This parking device was designed to enable the driver to park the vehicle in the mechanical parking device automatically by simply leaving the vehicle with the self-propelled function. A vehicle that enters and stops is detected by the vehicle measurement device, and the arithmetic controller of the receiving-side control device calculates the front-rear position, position, orientation, and size of the vehicle. A vehicle controller receives a vehicle parking approval from the operation controller and issues a command to the vehicle controller to keep the vehicle in an automatically drivable state, and further, an attitude controller based on the front and rear direction and the direction of the vehicle calculated by the arithmetic controller. To direct the front and rear direction of the vehicle to the direction of the parking space, and further, from the receiving side control device to the vehicle side control device to issue a warehousing command and control the operation along the trajectory calculated by the arithmetic controller. And it is configured so that the vehicle is automatically travels to received into vehicle stop space on the posture control device by.

JP, 2011-089354, A

  In a large-scale facility such as a large-scale commercial facility or a large-scale entertainment facility, it is necessary to manage the parking of a large number of vehicles that arrive, but in the first place, the conventional mechanical parking device was not very applicable to this. Therefore, a land or a building adjacent to the large facility where a large number of vehicles can be parked should be provided, and visitors should move the vehicles themselves to the parking space and then walk to the entrance of the large facility. Met.

  And if the large facility is crowded, the visitors have to drive the vehicle for a long time until they find the parking space for the vehicle, or if the parking space for the vehicle is far away from the entrance, a long distance to the entrance is required. There was inconvenience such as having to move.

  On the other hand, valet parking, which is performed at some hotels and restaurants, is known as a parking management system that can eliminate the inconvenience of visitors. According to valet parking, when a visitor gets off the vehicle at the entrance, the staff at the facility will move the vehicle to the parking space, which will cause various inconveniences to the visitors due to having to park themselves. Has the advantage that it is eliminated.

  However, since parking of vehicles in the valet parking depends on human labor, the valet parking cannot be completely adapted to parking management in a large-scale parking lot attached to a large facility.

  Therefore, the present invention proposes a parking management system and a control method thereof that can efficiently manage the parking of a large number of vehicles while eliminating the inconvenience for parking the vehicles in a large parking lot attached to a large facility. Is what you are trying to do.

  In order to solve such a problem, in the present invention, a parking management system that manages parking of a vehicle includes a guidance system that automatically guides the vehicle from an entry / exit space to a predetermined parking space, a control system that controls the guidance system, and a terminal system. A parking system for a vehicle is received from the vehicle, and a management system that transmits the reservation information and the vehicle identification information to the control system is provided. The control system causes the vehicle to reach the boarding / alighting space based on the reservation information and the identification information. Then, after the occupant gets off the vehicle, the guidance system guides the vehicle to a predetermined parking space to park the vehicle.

  According to the present invention, a parking management system and a control method therefor capable of efficiently managing parking of a large number of vehicles while eliminating inconvenience for parking vehicles in a large-scale parking lot attached to a large-scale facility are realized. it can.

1 is a schematic diagram of a parking management system according to an embodiment of the present invention. 1 is a hardware block diagram of a parking management system according to an embodiment of the present invention. It is a functional block diagram of a parking management system by an embodiment of the invention. 1 is a route diagram of a vehicle of a parking management system according to an embodiment of the present invention. 4 is a reservation information table according to the embodiment of the present invention. 3 is an environment information table according to the embodiment of the present invention. 3 is a vehicle information table according to the embodiment of the present invention. It is a processing flow of the control server by embodiment of this invention. It is a sequence diagram at the time of parking according to the embodiment of the present invention. It is a sequence diagram at the time of leaving according to the embodiment of the present invention. 3 is a guide robot according to an embodiment of the present invention. 3 is a control robot and a control robot according to an embodiment of the present invention. It is a user history table by embodiment of this invention.

  INDUSTRIAL APPLICABILITY The parking management system according to the present invention is suitable as a large-scale parking lot attached to a large-scale facility, and can efficiently manage parking of a large number of vehicles even if valet parking is applied. Embodiments of the present invention will be described below with reference to the drawings.

(1) First Embodiment (1-1) Configuration of Parking Management System According to this Embodiment In FIG. 1, reference numeral 1 generally indicates a parking management system according to this embodiment. The parking management system 1 includes a user terminal 11 held and used by a user of the parking management system 1, a vehicle 12 in which the user is an occupant, and a control center that accepts reservations from the user terminal and gives instructions to the vehicle 12. 13 and a parking lot 14 that acquires environmental information (information from a camera 14B, a pressure sensor 14A, a car stop sensor 14C, etc., described later in the parking lot 14) and notifies the control center 13 of the state.

  The user terminal 11, which is a terminal system, is a smartphone or a car navigation system, has a function of communicating with the control center 13, and transmits reservation information to the control center 13. The control center 13 transmits detailed information to the user terminal 11 according to the reservation information.

  As shown in FIG. 2, the parking lot 14 includes a pressure sensor 14A, a camera 14B, and a car stop sensor 14C. The parking lot 14 obtains from the pressure sensor 14A whether the vehicle 12 passes through the place, obtains the vacant lot information of the parking lot from the car stop sensor 14C, and detects and recognizes an obstacle from the camera 14B. Object information (information about a person, a vehicle 30 or the like, which will be described later, which is not managed by the control center 13, and which is not automatically guided) is acquired. The parking lot 14 transmits the acquired information to the control center 13. The parking lot 14 is provided with a display light, a screen, a speaker, and the like (not shown), and displays alert information and parking status on the display light, the screen, the speaker, and the like according to an instruction from the control center 13.

  The vehicle 12 is equipped with an automatic driving system which is a guidance system. When parking, the control system described later prepares the guidance system to automatically guide the vehicle 12 based on the reservation information, and the guidance system instructs the control center. The vehicle 12 is parked in a parking space 140, which will be described later and designated by. In other words, the control system remotely operates the vehicle 12 from the entry / exit space 140A described later to the parking space 140 via the guidance system.

  Similarly, at the time of leaving the vehicle, the control system prepares the guidance system to automatically guide the vehicle 12 based on the reservation information, and the guidance system leaves the vehicle 12 from the parking space 140 designated by the instruction from the control center 13. ..

  As shown in FIG. 2, the control center 13 includes a control server 130 having an interface 13A, a CPU 13B, a memory 13C and an external storage device 13D. The control server 130 is, for example, an oven server or a computer such as a mainframe computer, and the interface 13A communicates with the user terminal 11, the vehicle 12, and the parking lot 14.

  The external storage device 13D is an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like. The memory 13C is a ROM (Read Only Memory), a RAM (Random Access Memory), or the like, and stores various data and programs necessary for the processing of the CPU 13B, which is a CPU (Central Processing Unit).

  The external storage device 13D includes a management database 139 (FIG. 3) having a reservation information table T1 and an environment information table T2 described later. Further, the memory 13C includes a reservation module 131, an environment analysis module 132, a position selection module 133, a route design module 134, a route instruction module 135, a determination module 136, a state reception module 137, which are shown in FIG. And an image analysis module 138. The reservation module 131 is a management system, and the control system is an environment analysis module 132, a position selection module 133, a route design module 134, a route instruction module 135, a determination module 136, a status reception module 137, and an image. And an analysis module 138. The management database 139 is used by the control system, but may be used by the management system. The image analysis module 138 may be a part of the environment analysis module 132.

  The reservation module 131 receives the reservation information including the user ID, the reservation time, the position information which is the current position, and the entry / exit information from the user terminal 11, and transmits the reservation information to the determination module 136. The determination module 136 determines the stop position based on the reservation information and sends it to the reservation module 131. The reservation module 131 transmits detailed information including the stop position to the user terminal 11 as a response. In addition, the determination module 136 may determine, as the stop position, the entry / exit space 140A that is not congested or the entry / exit space 140A of the parking lot 14 that has more empty spaces to be described later than other parking lots 14. And

  The user ID is information for the parking management system 1 to identify the user and is uniquely determined for each user. As the reservation time, the user inputs a desired time for parking or leaving from the user terminal 11, and the position information is information such as GPS (Global Positioning System) of the user terminal 11. The entry / exit information is information that the user inputs from the user terminal, and is information indicating whether parking reservation (parking reservation) or leaving reservation (leaving reservation).

  In case of reservation for delivery, if the reservation time is not entered or the delivery is not in time for the reservation time, the detailed information (to be referred to as delivery information) includes the expected delivery time in addition to the stop position, and the delivery is completed. In that case, the detailed information (to be a delivery completion notification) is transmitted again. Note that in the case of a reservation for leaving, the detailed information may include the user ID and the vehicle number in addition to the stop position as the leaving position. Further, in the case of a reservation for leaving the warehouse, the reservation information as the leaving instruction information does not have to include the position information. If no reservation time has been entered for a parking reservation, the time at the time of reservation will be the reservation time. In the case of a parking reservation, if the parking lot 14 at that time is crowded, a detailed reservation time different from the reservation time entered by the user to shift the time when the user comes to the parking lot 14 will be displayed. May be included in.

  It should be noted that the reservation module 131 may automatically determine the entry / exit information from the position information and the like without the user inputting the entry / exit information. For example, if the position indicated by the position information is 10 km or more away from the parking lot 14 and the reservation is made on the day, it may be determined that the parking is reserved. Further, if there is a parking reservation for the same user immediately before the reservation, it may be determined that the parking reservation has been made.

  In order to search for the destination, in the case of parking reservation, the determination module 136 receives information about which parking space 140 is vacant (vacant space) from the car stop sensor 14C via the environment analysis module 132. The determination module 136 transmits the determination information to the position selection module 133 based on the received information, and the position selection module 133 selects the parking space 140 as a destination for parking each vehicle 12 based on the determination information. In other words, the control system searches for free space. In the case of a reservation for leaving, the destination is a boarding / alighting space 140A described later, instead of the parking space 140.

  The determination module 136 receives from the pressure sensor 14A via the environment analysis module 132 information about which route is free. The route design module 134 designs the route of each vehicle 12 to the parking space 140 selected by the position selection module 133, taking this received determination information into consideration.

  The route instruction module 135 receives the design information from the route design module 134 and gives a route instruction to the vehicle 12 as a movement instruction. Further, when changing the route, the route instruction module 135 transmits the route instruction information to the status reception module 137 (movement route correction instruction).

  The state receiving module 137 receives the vehicle state from the vehicle 12 based on the position information by the GPS or the like mounted on the vehicle 12 or the speed information by the vehicle speed sensor or the like mounted on the vehicle 12, and notifies the determination module 136 of the vehicle state. Send (Notify the location of your vehicle, etc.) The determination module 136 determines from this vehicle state whether or not a route change is necessary, and gives an instruction to the route design module. If indoors, the position may be estimated by SLAM (Simultaneous Localization and Mapping).

  After the vehicle 12 and the status reception module 137 establish communication, when the vehicle 12 first transmits the vehicle status to the status reception module 137, the vehicle information of the vehicle information table T3, which will be described later, which is the identification information of the vehicle, is displayed. The vehicle 12 may transmit to the status reception module 137. The route design module 134 can acquire the vehicle information of the vehicle information table T3 via the determination module 136 and design the route in consideration of the inner ring difference and the like. The vehicle information table T3 is included in the management database 139.

  The image analysis module 138 acquires the image information from the camera 14B and transmits the recognition object information based on the image information to the determination module 136. The determination module 136 transmits the determination information to the position selection module 133 and the route design module 134 based on the recognized object information, the position selection module 133 selects the parking space 140 based on the determination information, and the route based on the determination information. The design module 134 designs the path.

(1-2) Outline of parking management according to the present embodiment FIG. 4 shows the parking lot 14. The parking lot 14 includes a loading / unloading space 140A in which a user who is a passenger of the vehicle 12 gets in and out of the vehicle 12, a parking area 140B in which the vehicle 12 is parked, and a temporary placement space 140C in which the vehicle 12 is temporarily placed. The parking area 140B includes parking spaces 141, 142, 143, and 144 in which the respective vehicles 12 are parked.

  In addition, after the vehicle 12 is automatically guided to the boarding / alighting space 140A by the guidance system at the time of leaving the warehouse, it is controlled that the user who intends to use the vehicle 12 has not arrived at the boarding / alighting space 140A and a predetermined time has passed. If determined by the system, the control system causes the guidance system to move the vehicle 12 to the temporary storage space 140C. The control system may determine that the reserved time has elapsed, and the control system may cause the guidance system to move the vehicle 12 to the temporary storage space 140C.

  In FIG. 4, vehicles 12 are vehicles 12A, 12B and 12C, all of which are automatically guided. The user terminal 11 is the user terminals 11B and 11C. It is assumed that the vehicle 12B is reserved for parking by the user terminal 11B and the vehicle 12C is reserved for leaving the vehicle by the user terminal 11C. The parking space 140 is the parking spaces 141, 142, 143, and 144.

  The parking space 144 is selected for the vehicle 12A by the position selection module 133 (FIG. 3), the parking space 141 is selected for the vehicle 12B by the position selection module 133, and the vehicles 12A and 12B are selected by the route instruction module 135 (FIG. 3). The movement has started based on the instructed route. Further, the vehicle 12C moves based on the route designated by the route designation module 135 and arrives at the boarding / alighting space 140A selected by the position selection module 133.

  The boarding / alighting space 140A, the parking area 140B, and the temporary storage space 140C can be fluidly changed. Further, the parking area 140B may be an area through which only the vehicle 12 that is automatically guided passes, an area through which a person or a vehicle 30 that is not automatically guided passes, or may be changed depending on time. Further, only a part of the parking area 140B may be an area through which only the vehicle 12 to be automatically guided passes, or the division of the area may be changed depending on time.

(1-3) Various Tables According to this Embodiment FIG. 5 shows a reservation information table T1. The reservation information table T1 includes a user ID column T11, a reservation time column T12, an entry / exit column T13, a stop position column T14, a position information column T15, and a number column T16.

  The determination module 136 stores the user ID, the reservation time, the entry / exit information, and the position information, which are the reservation information received from the user terminal 11, in the user information column T11 to the entry / exit column T13 and the position information column T15 of the reservation information table T1 of the management database 139. Store in each column of. The user ID and the vehicle number of the vehicle 12 are associated with each other in the management database 139 on a one-to-one basis, and if the content of the user ID column T11 is determined, the content of the vehicle number column T16 is automatically determined.

  The determination module 136 determines the stop position, which is detailed information, based on the reservation information, and the determination module 136 stores the stop position in the stop position column T14 of the reservation information table T1 of the management database 139.

  FIG. 6 shows the environment information table T2. The environment information table T2 includes a recognition ID column T21, a parking lot position (X coordinate) column T22, a parking lot position (Y coordinate) column T23, a destination column T24, and a recognized object column T25.

  The recognition ID that is the recognition object information, the parking lot position (X coordinate), the parking lot position (Y coordinate), the destination, and the recognition object are a recognition ID column T21, a parking lot position (X coordinate) column T22, and a parking lot position. It is stored in the (Y coordinate) column T23, the destination column T24, and the recognized object column T25. The determination module 136 stores the recognized object information in the environment information table T2. The image analysis module 138 analyzes the recognition information from the image information, and sends the analyzed recognition information to the determination module 136.

  The image analysis module 138 analyzes the image information acquired from the camera 14B and attaches a recognition ID to be attached to the recognized object. For example, the recognition IDs may be sequentially numbered from 1 as they are recognized.

  The image analysis module 138 analyzes the image information acquired from the camera 14B to determine the parking position (X coordinate) and the parking position (Y coordinate) that are the values (X coordinate, Y coordinate) of the coordinate system shown in FIG. calculate.

  The image analysis module 138 analyzes the image information acquired from the camera 14B, extracts the contour of the recognition object, and traces the contour over frames to calculate the destination.

  The image analysis module 138 analyzes the image information acquired from the camera 14B and recognizes the recognition object by pattern matching or the like. In the case of the vehicle 30 that is not automatically guided, its vehicle number is recognized by pattern matching or the like.

  The environment information table T2 shown in FIG. 6 is configured based on only the image information acquired by the image analysis module 138 from the camera 14B, but the content is configured based on the information from the pressure sensor 14A and the car stop sensor 14C. May be.

  For example, the determination module 136 may acquire the information of the pressure sensor 14A via the environment analysis module 132 and determine the destination based on the information. Further, the determination module 136 may acquire the information of the vehicle stop sensor 14C via the environment analysis module 132 and determine whether or not the vehicle is heading for the parking space 140.

  FIG. 7 shows the vehicle information table T3. The vehicle information table T3 includes a vehicle ID column T31, a length column T32, a height column T33, a type column T34, a vehicle type column T35, a vehicle number column T36, a color column T37, and an owner column T38. Composed.

  The vehicle information includes a vehicle ID, length information, height information, type information, a vehicle type, a vehicle number, color information, and owner information. The determination module 136 stores the vehicle information in each column of the vehicle information table T3.

  The vehicle ID is information for identifying the vehicle 12, and the identification IDs may be sequentially numbered from 1 as the identification IDs. The length information is information on the length of the vehicle 12, and may be used when calculating the inner ring difference of the vehicle 12, for example. The height information is information on the height of the vehicle 12, and may be referred to when the position selection module 133 selects the parking space 140, and may be compared with information on the height limit of the parking space 140 or the like. The type information is information on the type of the vehicle 12, and the inner ring difference may be a fixed value for each type.

  The vehicle type is information on the vehicle type of the vehicle 12, and the inner ring difference may be fixed for each vehicle type. The vehicle number is the vehicle number of the vehicle 12, the color information is the color of the vehicle 12, and the owner information is the information of the owner of the vehicle 12.

(1-4) Various processes according to the present embodiment FIG. 8 shows a process flow of the control server 130. First, the position selection module 133 selects the parking space 140 for each vehicle 12 according to the reservation information from the user terminal 11 (SP11), and transmits the selected content to the route design module 134. Next, the determination module 136 determines the position and status (waiting time, etc.) of the other vehicle 12 for each vehicle 12 (SP12), and transmits the determined content to the route design module 134. Next, the route design module 134 designs the shortest route to the parking space 140 for each vehicle 12 (SP13).

  The determination module 136 determines whether another vehicle exists on the shortest route designed by the route design module 134 (SP14). When the determination result of SP14 is affirmative (SP14, YES), the determination module 136 determines the required time when the shortest route is followed by another route (designed by the route design module 134) to the shortest route. Subtract. The determination module 136 determines whether the subtraction result is shorter than the waiting time when the shortest route is selected (SP15). The required time and the waiting time are determined by the determination module 136 with reference to the vehicle state of each vehicle 12.

  When the determination result of SP15 is affirmative (SP15, YES), the route instruction module 135 instructs the vehicle 12 to take another route (a detour) (SP16). When the determination result of SP14 is negative (SP14, NO) and when the determination result of SP15 is negative (SP15, NO), the route instruction module 135 indicates the shortest route to the vehicle 12 (SP17).

  FIG. 9 shows a sequence diagram when the vehicle 12 is parked. Reservation information including the user ID and the current position is transmitted from the user terminal 11 to the control server 130 (SP21). In response to this reservation information, the control server 130 sends a response including the stop position to the user terminal 11 (SP22).

  After transmitting this response, the control server 130 transmits a movement instruction including destination and route information to the vehicle 12 (SP23). In response to this movement instruction, the vehicle 12 transmits a response to the control server 130 (SP24). After transmitting this response, the vehicle 12 periodically notifies the control server 130 of its own vehicle position (SP25). The control server 130 may send a travel route correction instruction including the destination and route information to the vehicle 12 (SP26).

  When the vehicle 12 arrives at the destination, it sends an arrival notice to the control server 130 (SP27). Upon receiving this arrival notification, the control server 130 may send a parking completion notification to the user terminal 11 (SP28).

  FIG. 10 shows a sequence diagram when the vehicle 12 is leaving. Steps SP33 to SP37, which are exchanges between the control server 130 and the vehicle 12, are the same as steps SP23 to SP27, and therefore description thereof will be omitted.

  The leaving instruction information including the user ID is transmitted from the user terminal 11 to the control server 130 (SP31). In response to the leaving instruction information, the control server 130 transmits the leaving information including the vehicle number, the expected leaving time, and the leaving position to the user terminal 11 (SP32). After transmitting the delivery information, the control server 130 transmits a movement instruction including the destination and the route information to the vehicle 12 (SP33).

  When the vehicle 12 arrives at the destination, it sends an arrival notice to the control server 130 (SP37). Upon receiving this arrival notice, the control server 130 transmits a leaving completion notice including the user ID, the vehicle number, and the leaving position to the user terminal 11 (SP38).

(1-5) Effects of this Embodiment In the parking management system 1 of this embodiment in which the control center 13 manages the parking lot as described above, the control center 13 is not managed individually. Information can be shared between the vehicles 12 through the intermediation.

  Therefore, according to the parking management system 1, it is possible to control the plurality of vehicles 12 and efficiently manage the large-scale parking lot 14.

  In addition, by notifying the user of the estimated time to leave the store and letting the user know how much more time they can stay in the store, it is possible to save unnecessary waiting time and to give the user an opportunity to purchase products before the estimated time to leave the store. You can increase.

(2) Second Embodiment In the first embodiment, it is premised that the vehicle 12 has a guidance system, can be managed by the control center 13, and can be automatically guided. If the guidance system is not provided, the first embodiment cannot be applied.

  Therefore, in the present embodiment, by arranging the guide robot 20 which is the transfer robot shown in FIG. 11 under the vehicle 30 which is not automatically guided as shown in FIG. 12, the vehicle 30 which is not automatically guided is simulated. Make it 12 The guide robot 200 may be allowed to stand by in the boarding / alighting space 140A (FIG. 4) by the control system. Further, the guiding robot 20 is allowed to travel by itself while the vehicle 30 is placed.

  The guiding robot 20 includes a lengthwise stretching module 21 capable of stretching according to the length of the vehicle 30 which is not automatically guided, and a widthwise stretching module 22 capable of stretching according to the width of the vehicle 30 which is not automatically guided. The guide robot 20 includes a guide system, and can be regarded as equivalent to the vehicle 12 by mounting the guide robot 20 on a vehicle 30 that is not automatically guided.

  Therefore, according to the present embodiment, it is possible to automatically guide the vehicle 30 that is not automatically guided as in the first embodiment.

  It is also assumed that the control robot 40 having a control system as shown in FIG. 12 may control the guide robot 20. The control server may also include a control system, and the control robot 40 may play an auxiliary role.

(3) Other Embodiments In the first and second embodiments, the management database 139 may have the user history table T4 shown in FIG. 13, and parking is performed on the day based on the past behavior pattern of the user. It is also possible to predict whether or not to carry out, and whether to leave the warehouse if already parked, and confirm with the user by e-mail or the like.

  The user history table T4 includes a user ID column T41 for storing the above-mentioned user ID, a vehicle number column T42 for storing the above-mentioned vehicle number, a visit date column T43 for storing the visit date of the user, and a store for the user. A store time column T44 for storing the store visit time, a store time column T45 for storing the store store time of the user, and a purchase history column T46 for storing products (purchased products) purchased by the user at the store.

  If there is a shared parking lot for a plurality of stores such as a shopping mall, the individual stores may be displayed separately, or the shopping malls may be displayed as one store. Let's be good. The determination module 136 stores the contents of each column of the user history table T4 of the management database 139.

  The date of coming to the store, the time of coming to the store, the time of opening the store, and information on the purchased product are acquired by the user terminal 11, transmitted from the user terminal 11 to the determination module 136 via the reservation module 131, and stored in the management database 139 as a movement history of the vehicle. To be done.

  Further, in the first and second embodiments, the parking space 140 has a uniform size, but it may be a variable space, and the position selection module 133 of the vehicle 12 can be changed according to the vehicle information from the vehicle 12. The parking space 140 may be selected. By making the parking space 140 variable, the parking space 140 in which the vehicle 12 is parked in the parking lot 14 can be increased. That is, the utilization efficiency of the parking area, which is the area of the parking lot 14, can be increased. The utilization efficiency of the parking area can also be increased by narrowing or reducing the route according to the vehicle information from the vehicle 12.

  In addition, in the first and second embodiments, when another vehicle exists on the shortest route, only the second shortest route is set as a different route for comparison, but the number of routes to be compared is not limited to two. Make it not exist.

  Further, in the first and second embodiments, the car stop sensor 14C is used to search for the destination, but the camera 14B may be used. Although the pressure sensor 14A is used for determining whether the route is free, the camera 14B may be used.

  Further, in the first and second embodiments, the vehicle 12 and the unguided vehicle 30 in which the guiding robot 20 is arranged are not mixed, but they may be mixed. Further, not only the guiding robot 20 but also a vehicle 30 that is not guided may be guided using a forklift or the like.

  1 ... Parking management system, 11 ... User terminal, 12, 30 ... Vehicle, 13 ... Control center, 130 ... Control server, 131 ... Reservation module, 133 ... Position selection module, 134 ... Route design Module, 135 ... Route instruction module, 136 ... Judgment module, 137 ... Status receiving module, 138 ... Image analysis module, 139 ... Management database, 14 ... Parking lot, 20 ... Guidance robot, 40 ... Control robot.

Claims (10)

A parking management system for managing parking of a vehicle,
A guidance system that automatically guides the vehicle from a boarding / alighting space to a predetermined parking space,
A control system for controlling the guidance system,
A parking system of the vehicle is accepted from a terminal system, and a management system that transmits reservation information and identification information of the vehicle to the control system is provided,
The control system, based on the reservation information and the identification information, after the vehicle arrives at the boarding / alighting space and the occupant disembarks, the guiding system guides the vehicle to the parking space to park the vehicle ,
The management system notifies the terminal system of the necessity of the parking reservation based on the movement history of the vehicle,
Parking management system. The guidance system is an automatic driving system built in the vehicle,
The parking management system according to claim 1, wherein the control system remotely controls the vehicle from the boarding / alighting space to the parking space via the automatic driving system. The guidance system is a transport robot capable of traveling by itself in a state where the vehicle is placed,
The parking management system according to claim 1, wherein the control system remotely operates the transfer robot from the boarding / alighting space to the parking space. When instructing the route to the parking space to the guidance system, the control system determines whether or not the other vehicle exists on the shortest route, and the other vehicle on the shortest route. The parking management system according to claim 1, wherein when there is a parking lot, the shortest route and the other route are compared with each other to determine whether the route is a standby or a detour, and the guidance system is instructed which one has the shorter required time. The control system searches for an empty space in a parking area, and based on the identification information of the vehicle, determines a position at which the vehicle is parked so that the utilization efficiency of the parking area is high,
The parking management system according to claim 1, wherein the determined position is instructed to the guidance system. The parking management system according to claim 3, wherein the control system causes the guidance system to stand by in the boarding / alighting space where the vehicle arrives based on the reservation information. The parking management system according to claim 1, wherein the control system controls the guidance system based on information from a sensor that detects an obstacle. The management system, from the terminal system, accepts the leaving reservation of the vehicle parked in the parking space, then transmits the reservation information regarding the leaving reservation to the control system,
The parking management system according to claim 1, wherein the control system guides the vehicle from the parking space to the boarding / alighting space by the guidance system based on the reservation information regarding the leaving reservation. When the control system determines that the reservation time for the leaving reservation has elapsed,
The parking management system according to claim 8 , wherein the guidance system moves the vehicle in the boarding / alighting space to a temporary storage space. A method for parking management system performs to manage the parking of the vehicle,
The parking management system is
A guidance system that automatically guides the vehicle from a boarding / alighting space to a predetermined parking space,
A control system for controlling the guidance system,
A parking system of the vehicle is accepted from a terminal system, and a management system that transmits reservation information and identification information of the vehicle to the control system is provided,
The control system, based on the reservation information and the identification information, after the vehicle arrives at the boarding / alighting space and the occupant disembarks, the guiding system guides the vehicle to the parking space to park the vehicle ,
The management system notifies the terminal system of the necessity of the parking reservation based on the movement history of the vehicle,
Parking management method.

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